@Article{steger:17,
  author =       "Carsten Steger",
  title =        "A Comprehensive and Versatile Camera Model for
                  Cameras with Tilt Lenses",
  journal =      "International Journal of Computer Vision",
  year =         "2017",
  volume =       "123",
  number =       "2",
  pages =        "121--159",
  month =        jun
}